#ifndef PID_HPP
#define PID_HPP

class PID {
private:
    float kp, ki, kd;
    float setspeed;
    float actspeed;
    float err;
    float err_last;
    float voltage;
    float integral;

public:
    PID();
    void pid_reset();
    float pid_control_position(float err_in, float upper_limit, float upper_speed_limit, float kp, float ki, float kd);
};

#endif // PID_HPP
